Add YAM.

Author: kevinzakka

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 All notable changes to this repository will be documented here.
 
+## [19/05/2025]
+
+- Added [YAM manipulator](i2rt_yam/README.md) from I2RT Robotics.
+
 ## [22/04/2025]
 - Adds changelog structure, contributor list, and PR template.
 

README.md

@@ -189,6 +189,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Gen3 | Kinova Robotics | 7 | [BSD-3-Clause](kinova_gen3/LICENSE) |✖️|
 | SO-ARM100 | The Robot Studio | 5 | [Apache-2.0](trs_so_arm100/LICENSE) |✖️|
 | Koch v1.1 Low-Cost Robot | Hugging Face | 5 | [Apache-2.0](low_cost_robot_arm/LICENSE) |✖️|
+| YAM | I2RT Robotics | 7 | [MIT](i2rt_yam/LICENSE) |✖️|
 
 **Bipeds.**
 

i2rt_yam/CHANGELOG.md

@@ -0,0 +1,7 @@
+# Changelog – YAM Description
+
+All notable changes to this model will be documented in this file.
+
+## [19/05/2025]
+
+- Initial release.

i2rt_yam/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 i2rt robotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

i2rt_yam/README.md

@@ -0,0 +1,34 @@
+# Yet Another Manipulator (YAM) Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.0 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [YAM robot](https://i2rt.com/products/yam-manipulator) developed by [I2
+RT Robotics](https://i2rt.com/). It is derived from the [publicly available
+URDF
+description](https://github.com/i2rt-robotics/i2rt/blob/main/robot_models/yam/yam.urdf).
+
+<p float="left">
+  <img src="yam.png" width="400">
+</p>
+
+## MJCF derivation steps
+
+1. Started from `yam.urdf` (commit SHA d4efb66d81bd8bde42909880b16591d4af82e8c0).
+2. Added the following to the URDF `<robot>` tag `<mujoco><compiler balanceinertia="true" discardvisual="false" fusestatic="false" strippath="false"/></mujoco>`.
+3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+4. Added home keyframe.
+5. Added tracking light.
+6. Add frictionloss (not identified).
+7. Added armature based on reflected inertia values provided by the manufacturer.
+8. Switched to implicitfast and used position actuators with kp/kv semantics.
+
+## License
+
+This model is released under an [MIT License](LICENSE).